CN201792335U - Stripping manipulator for cast stone production lines - Google Patents

Stripping manipulator for cast stone production lines Download PDF

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Publication number
CN201792335U
CN201792335U CN2010201142844U CN201020114284U CN201792335U CN 201792335 U CN201792335 U CN 201792335U CN 2010201142844 U CN2010201142844 U CN 2010201142844U CN 201020114284 U CN201020114284 U CN 201020114284U CN 201792335 U CN201792335 U CN 201792335U
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CN
China
Prior art keywords
hydraulic cylinder
finger
hexagon
provided
arm
Prior art date
Application number
CN2010201142844U
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Chinese (zh)
Inventor
李伟
王浩
武忠忠
郝勃英
陈刚
武雁文
吴英
武宇
Original Assignee
大同铸石工业(集团)有限责任公司
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Application filed by 大同铸石工业(集团)有限责任公司 filed Critical 大同铸石工业(集团)有限责任公司
Priority to CN2010201142844U priority Critical patent/CN201792335U/en
Application granted granted Critical
Publication of CN201792335U publication Critical patent/CN201792335U/en

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Abstract

The utility model discloses a stripping manipulator for cast stone production lines, which consists of a body, an arm, a wrist and a finger assembly. The body is provided with a rotary hydraulic cylinder (3) and supports rotation of the arm, the arm is provided with a hydraulic cylinder block (12) and a rotary hydraulic cylinder (20) and supports extension of the arm and turnover of the wrist, the wrist (3) is provided with the hydraulic cylinder block (12) and a finger base (21) and supports folding and unfolding of fingers, the finger base (21) is in a four-bar sliding groove structure, the finger assembly include the fingers (22) and finger washers (23) which are fixed on the fingers (22) via pins, and the fingers can be used for clamping square materials when in folding and unfolding movement and are suitable for grapping trapezoidal materials. The cylindrical manipulator is used for stripping, thereby optimizing environments of labor operation, leading operators to be distant from high-temperature working environment and heavy-duty labor, and increasing mechanization and automation degree of the cast stone production line.

Description

Cast stone production line demoulding manipulator

Technical field

The invention belongs to a kind of cast stone industrial equipment, be specifically related to a kind of cast stone production line demoulding manipulator.

Background technology

The cast stone production line uses the almag casting mold to carry out direct casting, be transported to the crystallization crystallization by roller-way, use the manual upset of the steel fork demoulding by the workman after finishing crystallization processes, and casting mold is propped up on the roller-way that returns forehearth with steel fork, by other workmans the foundry goods fork is put into again and carries out piling in the annealing kiln.The temperature that foundry goods goes out crystallization is up to 600 degree, foundry goods and the casting mold 30kg that weighs, and labour intensity is big, and production efficiency is low, and operating environment is abominable, and has unsafe factor.Therefore transform linking between crystallization and the annealing kiln as mechanization, automation is very necessary.Present domestic cast stone production line does not still have the precedent of using plant equipment to implement the demoulding, and demoulding work is finished by manual operations substantially.

Summary of the invention

The utility model is exactly that will to solve the stripping operation labour intensity that cast stone production line manual operations implements big, and production efficiency is low, and operating environment is abominable, has the problem of potential safety hazard.

The utility model is achieved through the following technical solutions: a kind of cast stone production line demoulding manipulator, by fuselage, arm, wrist, pointing 4 parts forms, the main body section branch comprises robot base 1, hexagon-headed bolt 2, rotating hydraulic cylinder 3, hexagon-headed bolt 4, rotary cylinder end cap 5, thrust ball bearing 6, sealing ring 24, axle 25, sealing gasket 26, arm segment comprises arm support 27, hexagon-headed bolt 7, guide post fore-stock 8, front and back guide post 9, hexagon-headed bolt 10, hydraulic cylinder bearing 11, hydraulic cylinder 12, hexagon-headed bolt 13, packing ring 14, hex-head nut 15, hydraulic cylinder bearing 16, guide post after-poppet 17, piston rod 18, the wrist portion branch comprises wrist fixed mount 19, rotating hydraulic cylinder 20, finger block 21, finger part comprise finger 22, finger pad 23; It is characterized in that: pedestal 1 fixes on the ground, pedestal 1 is connected with an end of rotating hydraulic cylinder 3 by hexagon-headed bolt 2, the other end of rotating hydraulic cylinder 3 is by axle 25, hexagon-headed bolt 13 is connected with arm support 27, be provided with a hydraulic cylinder inner chamber in the rotating hydraulic cylinder 3 and be divided into two-part sealing ring 24, sealing gasket 26, rotating hydraulic cylinder 3 is connected with the rotary cylinder end cap 5 that seals by hex head screw 4, rotary cylinder end cap 5 is provided with thrust ball bearing 6, axle 25 is provided with axle head retaining element hex-head nut 15 and packing ring 14, be connected with guide post fore-stock 8 by hexagon-headed bolt 7 on the arm support 27, guide post after-poppet 17, guide post fore-stock 8, guide post 9 before and after guide post after-poppet 17 is provided with, be fixed with hydraulic cylinder bearing 11 by hexagon-headed bolt 10 on the arm support 27, hydraulic cylinder bearing 16, hydraulic cylinder bearing 11, hydraulic cylinder bearing 16 is provided with hydraulic cylinder 12, hydraulic cylinder bearing 16 is connected with an end of piston rod 18 bars, the other end of piston rod 18 and wrist fixed mount 19 are connected, wrist fixed mount 19 is provided with rotating hydraulic cylinder 20, rotating hydraulic cylinder 20 is provided with finger block 21, and finger block 21 is provided with finger 22 and finger pad 23.

The present invention compares with existing stripping operation technology and has following beneficial effect: use the column type manipulator and implement the demoulding, optimized the labor operation environment, make the operator away from high-temperature work environment and heavy physical labour, improved the degree of the mechanization of cast stone production line, automation.

Description of drawings:

Fig. 1 is a structural representation of the present utility model,

Fig. 2 is along the cutaway view of AA line among Fig. 1.

The specific embodiment

Hydraulically powered circular cylindrical coordinate formula cast stone production line demoulding manipulator is installed in the crystallization roller-way and returns the forehearth roller-way, and this manipulator is made up of fuselage, arm, wrist, 4 big parts of finger and 5 hydraulic cylinders.Fuselage is the support component of manipulator, by pedestal 1, be installed on the basis, ground; Rotating hydraulic cylinder 3 is the power of rolling over, and is installed on the pedestal by hexagon-headed bolt 2, rotary cylinder end cap 5; Axle 25 is used for connecting rotating hydraulic cylinder 3 and arm, is used for transmitting motion and moment of torsion; Arm is the rotary supporting part of manipulator, can carry out flexible, two actions of rotation, by hexagon-headed bolt 13 arm support 27 and axle 25, rotating hydraulic cylinder 3 is coupled together; Hydraulic cylinder 12 is fixed on the arm support 27 by hydraulic cylinder bearing 11, hexagon-headed bolt 10, and the rectilinear motion of hydraulic cylinder 12, piston rod 18 drives arm and carries out stretching motion; The wrist fixed mount 19 of wrist part utilizes matching relationship to be connected with piston rod 18, and the gyration of rotating hydraulic cylinder 20 drives finger block 21 and carries out flip-flop movement; Finger part is provided with finger 22 and finger pad 23, to point 22 with pin is connected with finger block 21, finger block is provided with groove, is used to regulate fingerhold width and angle, is moved to left by the hydraulic means piston rod, the banjo splint clamping of workpieces, piston rod moves to right, and finger unclamps workpiece, will point pad 23 with pin and link together with finger, its effect is that clamping plate can be regulated automatically because the clamping face that the variation of workpiece radial dimension causes is not parallel when clamping flat board square stock.

Main body section is arranged with rotating hydraulic cylinder 3, and foundry goods arrives ad-hoc location through specific location roller-way after going out crystallization.The rotation of rotating hydraulic cylinder driving device hand arm arrives the workpiece top, enters the SBR of holding workpiece;

Arm segment is provided with hydraulic cylinder 12, drives arm and protracts and retraction, and arm protracts, and workpiece enters the manipulator clamping range, and paw clamps, clamping casting mold and workpiece; The arm retraction, workpiece returns the manipulator initial position, and paw unclamps, and casting mold is put on the roller-way that returns forehearth;

Wrist portion is arranged with rotating hydraulic cylinder 20, drives finger block 21 and spins upside down, and implements the demoulding and casting mold upset reset operation;

Finger part is provided with finger 22, and finger pad 23 carries out open and close movement under the effect that drives finger block 21 levers, implements finger grips and the operation of unclamping casting mold; The finger end is provided with two square clamping plate, uses bearing pin to be fixed on finger tip, and when clamping flat board square stock, clamping plate can be regulated automatically because the clamping face that the variation of workpiece radial dimension causes is not parallel.Employing translating type finger, driving force need be added in finger moving direction hand, adopt a straight line hydraulic cylinder, realize the opening and closing of paw.

Consider the stationarity and the reliability of manipulator work, this manipulator selects the hydraulic-driven scheme to carry out the finger opening and closing; The hand upset; Actions such as arm rotates, stretches.That is:

(1) workpiece arrives ad-hoc location through specific location roller-way after going out crystallization.Mechanical arm is positioned at the workpiece next door, and the manipulator arm protracts, and workpiece enters the manipulator clamping range, and paw clamps, clamping casting mold and workpiece;

(2) mechanical arm withdrawal, arm rotate to annealing kiln roller-way top, unclamp after 180 ° of the paw upsets, and workpiece breaks away from casting mold;

(3) the paw reverse flip is returned to the holding workpiece position for 180 °;

(4) arm continues rotation, arrives to return forehearth roller-way top, and paw unclamps, and mould falls into and returns the forehearth roller-way;

(5) mechanical arm withdrawal, initial position is returned in rotation, carries out next demoulding action.

Claims (1)

1. cast stone production line demoulding manipulator, by fuselage, arm, wrist, pointing 4 parts forms, the main body section branch comprises robot base (1), hexagon-headed bolt (2), rotating hydraulic cylinder (3), hexagon-headed bolt (4), rotary cylinder end cap (5), thrust ball bearing (6), sealing ring (24), axle (25), sealing gasket (26), arm segment comprises arm support (27), hexagon-headed bolt (7), guide post fore-stock (8), front and back guide post (9), hexagon-headed bolt (10), hydraulic cylinder bearing (11), hydraulic cylinder (12), hexagon-headed bolt (13), packing ring (14), hex-head nut (15), hydraulic cylinder bearing (16), guide post after-poppet (17), piston rod (18), the wrist portion branch comprises wrist fixed mount (19), rotating hydraulic cylinder (20), finger block (21), finger part comprise finger (22), finger pad (23); It is characterized in that: pedestal (1) fixes on the ground, pedestal (1) is connected with an end of rotating hydraulic cylinder (3) by hexagon-headed bolt (2), the other end of rotating hydraulic cylinder (3) is by axle (25), hexagon-headed bolt (13) is connected with arm support (27), be provided with a hydraulic cylinder inner chamber in the rotating hydraulic cylinder (3) and be divided into two-part sealing ring (24), sealing gasket (26), rotating hydraulic cylinder (3) is connected with the rotary cylinder end cap (5) that seals by hex head screw (4), rotary cylinder end cap (5) is provided with thrust ball bearing (6), axle (25) is provided with axle head retaining element hex-head nut (15) and packing ring (14), arm support (27) is gone up and is connected with guide post fore-stock (8) by hexagon-headed bolt (7), guide post after-poppet (17), guide post fore-stock (8), guide post (9) before and after guide post after-poppet (17) is provided with, arm support (27) is gone up and is fixed with hydraulic cylinder bearing (11) by hexagon-headed bolt (10), hydraulic cylinder bearing (16), hydraulic cylinder bearing (11), hydraulic cylinder bearing (16) is provided with hydraulic cylinder (12), hydraulic cylinder bearing (16) is connected with an end of piston rod (18), the other end of piston rod (18) and wrist fixed mount (19) are connected, wrist fixed mount (19) is provided with rotating hydraulic cylinder (20), rotating hydraulic cylinder (20) is provided with finger block (21), and finger block (21) is provided with finger (22) and finger pad (23).
CN2010201142844U 2010-02-08 2010-02-08 Stripping manipulator for cast stone production lines CN201792335U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010201142844U CN201792335U (en) 2010-02-08 2010-02-08 Stripping manipulator for cast stone production lines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010201142844U CN201792335U (en) 2010-02-08 2010-02-08 Stripping manipulator for cast stone production lines

Publications (1)

Publication Number Publication Date
CN201792335U true CN201792335U (en) 2011-04-13

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102581198A (en) * 2011-12-26 2012-07-18 重庆大学 Claw rod mechanism of forging manipulator
CN102672713A (en) * 2012-01-04 2012-09-19 河南科技大学 Bionic manipulator
CN102717388A (en) * 2012-07-05 2012-10-10 日立电梯电机(广州)有限公司 Front manipulator and workpiece grabbing and overturning device
CN103192375A (en) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 Side-turn type mechanical hand
CN103640016A (en) * 2013-11-11 2014-03-19 吴中区木渎蒯斌模具加工厂 Working steps of hydraulic large-sized mechanical hand
CN103640009A (en) * 2013-11-11 2014-03-19 吴中区木渎蒯斌模具加工厂 Hydraulic large-sized mechanical hand
CN103644157A (en) * 2013-11-11 2014-03-19 吴中区木渎蒯斌模具加工厂 Hydraulic lifting rotary base of hydraulic large-sized mechanical hand
CN103846914A (en) * 2013-08-12 2014-06-11 中国科学院合肥物质科学研究院 Novel part carrying device
CN104609176A (en) * 2014-12-09 2015-05-13 岳睿 Industrial automated machinery conveying device
CN104949881A (en) * 2015-04-28 2015-09-30 中山大学 Multifunctional rock hydraulic claw used for full-automatic three-axis tester
CN105269563A (en) * 2015-11-30 2016-01-27 宁波新芝华东环保科技有限公司 Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions
CN105414961A (en) * 2015-12-29 2016-03-23 山西顾德宝丰重工机械有限公司 Grabbing manipulator for carrier roller
CN105598734A (en) * 2015-12-29 2016-05-25 山西顾德宝丰重工机械有限公司 Roller carrier shaft clamping mechanical hand
CN105751243A (en) * 2014-11-21 2016-07-13 财团法人工业技术研究院 Mechanical arm having adjustable length
CN106239470A (en) * 2016-08-24 2016-12-21 合肥凌翔信息科技有限公司 A kind of automatic guided vehicle QR alignment system
CN106393072A (en) * 2016-11-16 2017-02-15 安曼博珠宝控股有限公司 Jewelry chain bead automatic-grabbing and reverse-rotating manipulator
CN107322638A (en) * 2017-08-25 2017-11-07 太仓望虞机械科技有限公司 A kind of portable telescopic mechanical arm

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102581198A (en) * 2011-12-26 2012-07-18 重庆大学 Claw rod mechanism of forging manipulator
CN102581198B (en) * 2011-12-26 2014-02-19 重庆大学 Claw rod mechanism of forging manipulator
CN102672713A (en) * 2012-01-04 2012-09-19 河南科技大学 Bionic manipulator
CN102672713B (en) * 2012-01-04 2014-12-24 河南科技大学 Bionic manipulator
CN103192375A (en) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 Side-turn type mechanical hand
CN102717388A (en) * 2012-07-05 2012-10-10 日立电梯电机(广州)有限公司 Front manipulator and workpiece grabbing and overturning device
CN103846914A (en) * 2013-08-12 2014-06-11 中国科学院合肥物质科学研究院 Novel part carrying device
CN103846914B (en) * 2013-08-12 2015-11-25 中国科学院合肥物质科学研究院 A kind of new type fittings Handling device
CN103640016A (en) * 2013-11-11 2014-03-19 吴中区木渎蒯斌模具加工厂 Working steps of hydraulic large-sized mechanical hand
CN103640009A (en) * 2013-11-11 2014-03-19 吴中区木渎蒯斌模具加工厂 Hydraulic large-sized mechanical hand
CN103644157A (en) * 2013-11-11 2014-03-19 吴中区木渎蒯斌模具加工厂 Hydraulic lifting rotary base of hydraulic large-sized mechanical hand
CN105751243A (en) * 2014-11-21 2016-07-13 财团法人工业技术研究院 Mechanical arm having adjustable length
CN105751243B (en) * 2014-11-21 2017-11-10 财团法人工业技术研究院 Length-adjustable mechanical arm
CN104609176A (en) * 2014-12-09 2015-05-13 岳睿 Industrial automated machinery conveying device
CN104949881A (en) * 2015-04-28 2015-09-30 中山大学 Multifunctional rock hydraulic claw used for full-automatic three-axis tester
CN104949881B (en) * 2015-04-28 2018-02-06 中山大学 A kind of multifunctional rock hydraulic jaw for full-automatic triaxial tester
CN105269563A (en) * 2015-11-30 2016-01-27 宁波新芝华东环保科技有限公司 Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions
CN105414961A (en) * 2015-12-29 2016-03-23 山西顾德宝丰重工机械有限公司 Grabbing manipulator for carrier roller
CN105598734A (en) * 2015-12-29 2016-05-25 山西顾德宝丰重工机械有限公司 Roller carrier shaft clamping mechanical hand
CN106239470A (en) * 2016-08-24 2016-12-21 合肥凌翔信息科技有限公司 A kind of automatic guided vehicle QR alignment system
CN106393072A (en) * 2016-11-16 2017-02-15 安曼博珠宝控股有限公司 Jewelry chain bead automatic-grabbing and reverse-rotating manipulator
CN107322638A (en) * 2017-08-25 2017-11-07 太仓望虞机械科技有限公司 A kind of portable telescopic mechanical arm

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110413

Termination date: 20120208